CA3147842A1 - Method and system in a forest machine - Google Patents

Method and system in a forest machine Download PDF

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Publication number
CA3147842A1
CA3147842A1 CA3147842A CA3147842A CA3147842A1 CA 3147842 A1 CA3147842 A1 CA 3147842A1 CA 3147842 A CA3147842 A CA 3147842A CA 3147842 A CA3147842 A CA 3147842A CA 3147842 A1 CA3147842 A1 CA 3147842A1
Authority
CA
Canada
Prior art keywords
forest machine
database
track
view
surroundings
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CA3147842A
Other languages
English (en)
French (fr)
Inventor
Esko Havimaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ponsse Oyj
Original Assignee
Ponsse Oyj
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ponsse Oyj filed Critical Ponsse Oyj
Publication of CA3147842A1 publication Critical patent/CA3147842A1/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/003—Collecting felled trees
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265—Automatic obstacle avoidance by steering
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/08—Felling trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B60W2300/158—Harvesters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Forests & Forestry (AREA)
  • Environmental Sciences (AREA)
  • Ecology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CA3147842A 2019-08-14 2020-08-14 Method and system in a forest machine Pending CA3147842A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FI20195678 2019-08-14
FI20195678A FI20195678A1 (sv) 2019-08-14 2019-08-14 Förfarande och system i en skogsmaskin
PCT/FI2020/050529 WO2021028622A1 (en) 2019-08-14 2020-08-14 Method and system in a forest machine

Publications (1)

Publication Number Publication Date
CA3147842A1 true CA3147842A1 (en) 2021-02-18

Family

ID=74570359

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3147842A Pending CA3147842A1 (en) 2019-08-14 2020-08-14 Method and system in a forest machine

Country Status (7)

Country Link
US (1) US20220266868A1 (sv)
EP (1) EP4013216A4 (sv)
CN (1) CN114258265A (sv)
BR (1) BR112022002663A2 (sv)
CA (1) CA3147842A1 (sv)
FI (1) FI20195678A1 (sv)
WO (1) WO2021028622A1 (sv)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114916396A (zh) * 2022-06-16 2022-08-19 吉林大学 一种全自动植树机器人
CN117237824B (zh) * 2023-11-14 2024-02-02 吉林省林业科学研究院(吉林省林业生物防治中心站) 一种基于遥感图像技术的林区采伐检测设备

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998046065A1 (en) * 1997-04-16 1998-10-22 Carnegie Mellon University Agricultural harvester with robotic control
US9002566B2 (en) * 2008-02-10 2015-04-07 AgJunction, LLC Visual, GNSS and gyro autosteering control
JP2010012928A (ja) * 2008-07-03 2010-01-21 Yanmar Co Ltd 不整地用走行車両
US8195342B2 (en) * 2008-09-11 2012-06-05 Deere & Company Distributed knowledge base for vehicular localization and work-site management
WO2010032495A1 (ja) * 2008-09-16 2010-03-25 株式会社アドイン研究所 樹木情報計測方法、樹木情報計測装置、プログラム
US8275547B2 (en) * 2009-09-30 2012-09-25 Utility Risk Management Corporation, Llc Method and system for locating a stem of a target tree
US9043129B2 (en) * 2010-10-05 2015-05-26 Deere & Company Method for governing a speed of an autonomous vehicle
CN102135766B (zh) * 2011-01-04 2013-05-08 北京林业大学 自主作业林业机器人平台
FI124889B (sv) * 2012-05-31 2015-03-13 Ponsse Oyj Anordning för en skogsmaskin och med motsvarande anordning utrustad skogsmaskin
JP6143223B2 (ja) * 2013-03-26 2017-06-07 学校法人早稲田大学 樹木の伐倒システム、樹木情報検出装置及びそのプログラム
US9305219B2 (en) * 2014-01-23 2016-04-05 Mitsubishi Electric Research Laboratories, Inc. Method for estimating free space using a camera system
SE1651274A1 (sv) * 2015-09-30 2017-03-31 Deere & Co Cut tree information system
WO2017167793A1 (en) * 2016-03-31 2017-10-05 Husqvarna Ab Forestry management device
CA3033278A1 (en) * 2016-10-03 2018-04-12 Agjunction Llc Using optical sensors to resolve vehicle heading issues
CN108633533B (zh) * 2018-04-11 2024-06-04 北京木业邦科技有限公司 树木自动抚育方法、装置、电子设备及存储介质
FI20185724A1 (sv) * 2018-08-30 2020-03-01 Ponsse Oyj Förfarande och system vid maskinell avverkning

Also Published As

Publication number Publication date
FI20195678A1 (sv) 2021-02-15
BR112022002663A2 (pt) 2022-05-03
EP4013216A1 (en) 2022-06-22
EP4013216A4 (en) 2023-09-13
CN114258265A (zh) 2022-03-29
WO2021028622A1 (en) 2021-02-18
US20220266868A1 (en) 2022-08-25

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